CN210310918U - Tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering device - Google Patents
Tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering device Download PDFInfo
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- CN210310918U CN210310918U CN201920861423.0U CN201920861423U CN210310918U CN 210310918 U CN210310918 U CN 210310918U CN 201920861423 U CN201920861423 U CN 201920861423U CN 210310918 U CN210310918 U CN 210310918U
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- unmanned aerial
- aerial vehicle
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- slide rail
- bottom plate
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Abstract
The utility model provides a tailstock formula VTOL unmanned aerial vehicle release and recovery unit, the device includes the platform bottom plate and can open and shut and fix first cabin cover and the second cabin cover in the relative both sides of bottom plate, four corner positions that the first splint of perpendicular to and second splint opened and shut the direction on the platform bottom plate are provided with four short slide rails, the vertical slip is provided with a long slide rail on two relative short slide rails, slidable mounting has the sliding seat respectively on the long slide rail, two sliding seats are connected through the pivot, be provided with in the pivot and do two pairs of splint that are used for cliping unmanned aerial vehicle of opening and shutting the motion, be connected with two baffles that are used for pressing from both sides tight unmanned aerial vehicle through the electric jar on the splint, still be provided with the battery module that trades the battery for unmanned aerial vehicle on the bottom plate. The utility model provides a release and recovery unit compact structure design scientific and reasonable can be applied to fixed and moving platform, makes tailstock formula VTOL unmanned aerial vehicle realize independently releasing to retrieve and charge.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle, concretely relates to tailstock formula VTOL unmanned aerial vehicle releases and recovery unit.
Background
In recent years, the application of unmanned aerial vehicles is gradually popularized in the domestic environmental protection industry, and the unmanned aerial vehicles are carried with various sensors to realize more efficient and convenient environmental monitoring. But traditional unmanned aerial vehicle using-way also has some problems, and the most main problem is that all need send personnel to job site operation unmanned aerial vehicle when doing the monitoring at every turn, and this kind of mode flow is loaded down with trivial details, and the labour wasting and time consuming has very big restriction the timeliness and the frequency of unmanned aerial vehicle monitoring. In severe summer and cold weather, the operation frequency of the operators is also limited. Along with the development of the technology, some unmanned aerial vehicle enterprises such as the aerobotics of israel, the full-automatic flight system of unmanned aerial vehicle has been gradually released by companies such as domestic shanghai compound sub intelligent science and technology, combine all kinds of environmental sensor to form full-automatic environmental protection monitoring system of unmanned aerial vehicle and solution, can realize unmanned aerial vehicle at the fixed deployment of job site, remote control, flight independently entirely to and the real-time passback of environmental protection monitoring data, greatly facilitated the application of unmanned aerial vehicle in the environmental protection monitoring field. The system is particularly suitable for environment-friendly monitoring scenes in which a fixed monitoring area needs high-frequency operation.
The automatic airport of current unmanned aerial vehicle is mostly for many rotor unmanned aerial vehicle designs, can't be used for retrieving tailstock formula VTOL unmanned aerial vehicle.
The automatic airport designed for the tailstock type vertical take-off and landing unmanned aerial vehicle is only a SkyX company, the Skyone airport unmanned aerial vehicle developed by the company is a full-automatic line patrol unmanned aerial vehicle, and under the support of an automatic airport system, long-distance line patrol tasks can be expected to be completed independently under the condition of no manual operation. SkyOne uses a fixed wing and propeller design, and can take off and land vertically from a small ground station by using the propeller, while during cruising, the single charge flight distance can reach 65 miles (about 105 kilometers) by relying on the fixed wing to fly like a common airplane. SkyOne achieves longer coverage distances by conducting power replenishment through an automated airport xStations. The xStations can be deployed along the energy pipeline with rare human smoke, an external power supply or a solar cell panel is used for supplying power, and the matched special unmanned aerial vehicle can automatically fall to an airport along the way to be charged under the accurate guidance of the automatic airport, so that the long-distance line patrol task is completed. When unmanned aerial vehicle does not have the flight task, xStations acts as the hangar of accomodating unmanned aerial vehicle, and the canada that freezes has a warm family to make the unmanned aerial vehicle of lonely no longer receive the influence of factors such as bad weather, but this kind of automatic airport is bulky, and is with high costs, is unsuitable for being used for moving platform.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough to above-mentioned prior art provides a tailstock formula VTOL unmanned aerial vehicle release and recovery unit and method, and the device is exquisite compact, can conveniently be applicable to and remove or fixed platform, increases unmanned aerial vehicle's availability factor and effective working range, and release and recovery operation need not manual operation, and degree of automation is high, safe and reliable.
In order to solve the technical problem, the utility model discloses a technical scheme is: a tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering device is characterized by comprising a rectangular platform bottom plate, a first cabin cover and a second cabin cover, wherein the first cabin cover and the second cabin cover can be fixed on two opposite sides of the platform bottom plate in an openable and closable manner, the first cabin cover and the second cabin cover completely cover the platform bottom plate after being closed, four electric short slide rails are arranged on the platform bottom plate in parallel at four corner positions, a first electric long slide rail and a second electric long slide rail are respectively arranged on two opposite short slide rails in a sliding manner, the first electric long slide rail and the second electric long slide rail are both arranged perpendicular to the short slide rails, electric sliding seats are respectively arranged on the first electric long slide rails and the second electric long slide rails in a sliding manner, the two sliding seats are connected through a first rotating shaft and a second rotating shaft which are respectively in independent direct contact, two first clamping plates are fixed on the first rotating shaft, two second clamping plates corresponding to the first clamping plates are fixed on the second rotating shaft, first pivot and second pivot are electronic pivot, by the rotation of the first splint of first pivot control, the rotation of second pivot control second splint, first splint and the cooperation of second splint form a set of anchor clamps that are used for pressing from both sides tight unmanned aerial vehicle, two the second splint pass through the electricity jar and connect, the both ends of electricity jar are provided with first baffle and second baffle, be provided with the main control computer who trades the battery module and controls each electric component for unmanned aerial vehicle changes the battery on the platform bottom plate, trade battery module department and be provided with the arm of automation.
Preferably, the side of first hatch cover and second hatch cover is irregular semi-circular, can form certain inner space for place each part structure and unmanned aerial vehicle and provide the space, the dampproofing processing of antiseep is carried out to the position of first hatch cover and second hatch cover contact, avoids influencing inner structure's normal use because of raining.
Preferably, the short slide rail is parallel to the long side of the rectangular platform bottom plate, and the first electric long slide rail and the second electric long slide rail are parallel to the short side of the rectangular platform bottom plate.
Preferably, the first hatch and the second hatch are connected to the platform floor by an electric hinge.
Preferably, all install pressure sensor on first splint and the second splint, can respond to whether enough take-off of unmanned aerial vehicle's lift through pressure sensor to judge whether first splint and second splint need open.
Preferably, the main control computer is connected with the electric hinge, the first electric long slide rail, the second electric long slide rail, the first rotating shaft, the second rotating shaft and the electric cylinder.
Preferably, the pressure sensor, the electric hinge, the first electric long slide rail, the second electric long slide rail, the first rotating shaft, the second rotating shaft and the electric cylinder are connected with a master control computer; the master control computer adopts CAN bus design, and sensor and electronic part all use the master control computer communication through the CAN bus, tailstock formula VTOL unmanned aerial vehicle release is supplied power by external power source with recovery unit, by the power supply of car ship during on-vehicle shipboard, and the master control computer CAN receive the information input automatic control electric hinge that comes from pressure sensor, difference GPS and vision guide, first electronic long slide rail, the electronic long slide rail of second, first pivot, the removal of second pivot and electric cylinder, carries out the fine setting that unmanned aerial vehicle retrieved the position, realizes intelligent control.
Preferably, the differential GPS is divided into a fixed base station and a rover, the rover is installed on the unmanned aerial vehicle, the fixed base station is installed in the releasing and recovering device, the fixed base station is used for accurately positioning, RTCM information is sent to the rover, and the rover is used for carrying out differential calculation, so that centimeter-level positioning is achieved, and the unmanned aerial vehicle achieves centimeter-level control accuracy; the vision guide is that two mesh cameras guide unmanned aerial vehicle to descend, and two mesh cameras are installed in release and recovery unit, solve unmanned aerial vehicle position and gesture through shooting unmanned aerial vehicle, and then unmanned aerial vehicle and release and recovery unit adjust position and gesture simultaneously to accomplish the automatic recovery of unmanned aerial vehicle.
Compared with the prior art, the utility model has the following advantage:
1. the utility model provides a device is exquisite compact, can conveniently be applicable to and remove or fixed platform, increases unmanned aerial vehicle's availability factor and effective working range.
2. The utility model provides a method is simple and easy, and release and recovery unmanned aerial vehicle realize automatic, intelligent, and the time of release and recovery is short, easy operation.
3. The utility model discloses be provided with the automatic cabin cover that opens and shuts, automatic opening and shutting pivoted splint and automatic movement's slide rail can pass through its automatic accurate adjustment position of distal end automatic control system control according to GPS and vision guide, and accurate swiftly makes unmanned aerial vehicle accomplish take off and descend.
4. The utility model discloses an arm is automatic to unmanned aerial vehicle trade the battery operation to the battery that trades charges, but greatly increased unmanned aerial vehicle's continuation of the journey distance and working range have improved the practicality of unmanned aerial vehicle auxiliary work.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Drawings
Fig. 1 is the utility model discloses in release or treat the structure schematic diagram when retrieving unmanned aerial vehicle.
Fig. 2 is the utility model discloses the structure schematic diagram when unmanned aerial vehicle is cliied to well splint.
Fig. 3 is a side view of the present invention when releasing or waiting to retrieve an unmanned aerial vehicle.
Fig. 4 is the utility model discloses well unmanned aerial vehicle keeps flat the schematic diagram in release and recovery unit.
Description of reference numerals:
| 1-platform floor; | 2-a first hatch; | 3-a second hatch; |
| 4-short slide rail; | 5, a first electric long slide rail; | 6-second electric long slide rail; |
| 7, a sliding seat; | 8-a first shaft; | 9-a first splint; |
| 10-a second splint; | 11-unmanned aerial vehicle; | 12 — a first baffle; |
| 13-a second baffle; | 14-changing battery module; | 15-an electric cylinder; |
| 16-a master control computer; | 17-second axis of rotation. |
Detailed Description
As shown in fig. 1 and fig. 3, a tailstock type vertical take-off and landing unmanned aerial vehicle release and recovery device comprises a rectangular platform bottom plate 1, and a first hatch cover 2 and a second hatch cover 3 which can be opened and closed and fixed on two opposite sides of the platform bottom plate, wherein the first hatch cover 2 and the second hatch cover 3 completely cover the platform bottom plate 1 after being closed, four short slide rails 4 are arranged on the platform bottom plate 1 in parallel at four corner positions, a first electric long slide rail 5 and a second electric long slide rail 6 are respectively arranged on two short slide rails 4 which are opposite to each other in a sliding manner, the first electric long slide rail 5 and the second electric long slide rail 6 are both arranged perpendicular to the short slide rails 4, electric sliding seats 7 are respectively arranged on the first electric long slide rail 5 and the second electric long slide rail 6 in a sliding manner, the two sliding seats 7 are connected through a first rotating shaft 8 and a second rotating shaft 17 which are respectively independent and do not contact with each other, two first clamping plates 9 are fixed on the first rotating shaft 8, be fixed with two positions and the corresponding second splint 10 of first splint 9 in the second pivot 17, first pivot 8 and second pivot are electronic pivot, and first splint 9 and the cooperation of second splint 10 form a set of anchor clamps that are used for pressing from both sides tight unmanned aerial vehicle 11, two second splint 10 pass through electric jar 15 and connect, the both ends of electric jar 15 are provided with first baffle 12 and second baffle 13, be provided with on the platform bottom plate 1 and change battery module 14 and receive data signal and control each electronic parts moving master control computer 16 for unmanned aerial vehicle 11 changes the battery, and it is provided with the automatic mechanical arm to change battery module 14 department.
In this embodiment, the side of first hatch 2 and second hatch 3 is irregular semi-circular, can form certain inner space for placing each part structure and unmanned aerial vehicle 11 and provide the space, the dampproofing processing of antiseep is carried out to the position of first hatch 2 and the contact of second hatch 3, avoids influencing inner structure's normal use because of raining.
In this embodiment, the short slide rail 4 is parallel to the long side of the rectangular platform bottom plate 1, and the first electric long slide rail 5 and the second electric long slide rail 6 are parallel to the short side of the rectangular platform bottom plate 1.
In this embodiment, the first hatch 2 and the second hatch 3 are connected to the side edges of the platform floor 1 by electric hinges.
In this embodiment, all install pressure sensor on first splint 9 and the second splint 10, can whether enough take off through pressure sensor response unmanned aerial vehicle 11's lift to judge whether first splint 9 and second splint 10 need open.
In this embodiment, the main control computer 16 is connected to the electric hinge, the first electric long slide rail 5, the second electric long slide rail 6, the first rotating shaft 8, the second rotating shaft 17, and the electric cylinder 15.
In this embodiment, the pressure sensor, the electric hinge, the first electric long slide rail 5, the second electric long slide rail 6, the first rotating shaft 8, the second rotating shaft 17 and the electric cylinder 15 are connected with a main control computer 16; the master control computer 16 adopts the design of CAN bus, and sensor and electric component all use the communication of master control computer 16 through the CAN bus, tailstock formula VTOL unmanned aerial vehicle release is supplied power by external power source with recovery unit, by the carrier power supply during on-vehicle shipboard, and master control computer 16 comes automatic control electric hinge through receiving the information input that comes from pressure sensor, difference GPS and vision guide, first electronic long slide rail 5, the electronic long slide rail 6 of second, first pivot 8, the removal of second pivot 17 and electric jar 15, carries out the fine setting of unmanned aerial vehicle 11 recovery position, realizes the intellectuality.
In the embodiment, the differential GPS is divided into a fixed base station and a mobile station, the mobile station is installed on the unmanned aerial vehicle 11, the fixed base station is installed in the releasing and recovering device, the fixed base station carries out accurate positioning, RTCM information is sent to the mobile station, and the mobile station carries out differential calculation, so that centimeter-level positioning is achieved, and the unmanned aerial vehicle 11 achieves centimeter-level control accuracy; visual guide is two mesh cameras guide unmanned aerial vehicle 11 to descend, and two mesh cameras are installed in release and recovery unit, solve unmanned aerial vehicle 11 position and gesture through shooting unmanned aerial vehicle 11, and then unmanned aerial vehicle 11 adjusts position and gesture simultaneously with release and recovery unit's recovery mechanism to accomplish 11 automatic recoveries of unmanned aerial vehicle.
A tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering method comprises an unmanned aerial vehicle take-off releasing method and an unmanned aerial vehicle landing recovering method, and specifically comprises the following steps:
step one, unmanned aerial vehicle take-off releasing step:
step 101, opening a first clamping plate 9 and a second clamping plate 10, rotating a clamp under the simultaneous action of a first rotating shaft 8 and a second rotating shaft 17, erecting an unmanned aerial vehicle 11, opening a first baffle plate 9 and a second baffle plate 10 under the action of an electric cylinder 15, and loosening the unmanned aerial vehicle 11;
102, starting a propeller of the unmanned aerial vehicle 11, when pressure sensors arranged on the first clamping plate 9 and the second clamping plate 10 monitor limited pressure values, namely the propeller of the unmanned aerial vehicle generates enough lift force, rapidly opening the first clamping plate 9 and the second clamping plate 10 through the reverse rotation of the first rotating shaft 8 and the second rotating shaft 17, and vertically taking off the unmanned aerial vehicle 11;
step two, unmanned aerial vehicle landing and recovering step:
step 201, when the unmanned aerial vehicle 11 needs to change the power supply to go back to the air, the first hatch 2, the second hatch 3, the first clamping plate 9, the second clamping plate 10, the first baffle 12 and the second baffle 13 are opened at the same time, the unmanned aerial vehicle 11 is guided by a differential GPS to hover right above the platform bottom plate 1, the first clamping plate 9, the second clamping plate 10, the first baffle 12 and the second baffle 13 linearly move on the first electric long slide rail 5, the second electric long slide rail 6 and the short slide rail 4, the unmanned aerial vehicle 11 is aligned under the visual guidance, and the unmanned aerial vehicle 11 slowly descends after the alignment;
step 202, when the unmanned aerial vehicle 11 approaches the first rotating shaft 8, the first clamping plate 9, the second clamping plate 10, the first baffle plate 12 and the second baffle plate 13 are quickly closed, the unmanned aerial vehicle 11 is fixed, and meanwhile, a propeller of the unmanned aerial vehicle 11 stops rotating;
step 203, the first rotating shaft 8 and the second rotating shaft 17 rotate 90 degrees at the same time, the unmanned aerial vehicle 11 is flatly placed, and the first hatch cover 2 and the second hatch cover 3 are closed to complete the descending and recovering actions.
The above description is only for the preferred embodiment of the present invention, and is not intended to limit the present invention in any way. Any simple modifications, changes and equivalent changes made to the above embodiments according to the technical spirit of the present invention all fall within the protection scope of the technical solution of the present invention.
Claims (7)
1. A tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering device is characterized by comprising a rectangular platform bottom plate (1), and a first cabin cover (2) and a second cabin cover (3) which can be opened and closed and fixed on two opposite sides of the platform bottom plate (1), wherein the first cabin cover (2) and the second cabin cover (3) completely cover the platform bottom plate (1) after being closed, four short slide rails (4) are arranged on the platform bottom plate (1) in parallel at four corner positions, a first electric long slide rail (5) and a second electric long slide rail (6) are respectively arranged on two opposite short slide rails (4) in the four short slide rails (4) in a sliding manner, the first electric long slide rail (5) and the second electric long slide rail (6) are both arranged vertically to the short slide rails (4), and electric sliding seats (7) are respectively arranged on the first electric long slide rail (5) and the second electric long slide rail (6) in a sliding manner, the two sliding seats (7) are connected through a first rotating shaft (8) and a second rotating shaft (17) which are respectively independent, two first clamping plates (9) are fixed on the first rotating shaft (8), two second clamping plates (10) corresponding to the first clamping plates (9) in position are fixed on the second rotating shaft (17), the first rotating shaft (8) and the second rotating shaft (17) are both electric rotating shafts, the first clamping plate (9) and the second clamping plate (10) are matched to form a group of clamps for clamping the tailstock type vertical lifting unmanned aerial vehicle (11), the two second clamping plates (10) are connected through an electric cylinder (15), a first baffle (12) and a second baffle (13) are arranged at two ends of the electric cylinder (15), the platform bottom plate (1) is provided with a battery replacing module (14) for replacing a battery for the unmanned aerial vehicle (11) and a master control computer (16) of each electric component in the control device.
2. The release and recovery device for the tailstock type vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the side surfaces of the first hatch (2) and the second hatch (3) are irregular semi-circles.
3. The release and recovery device of tailstock type vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the short slide rail (4) is arranged in parallel with the long side of the rectangular platform bottom plate (1), and the first electric long slide rail (5) and the second electric long slide rail (6) are arranged in parallel with the short side of the rectangular platform bottom plate (1).
4. The release and recovery device for the tailstock type vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the first hatch (2) and the second hatch (3) are connected on the side edge of the platform bottom plate (1) through electric hinges.
5. The release and recovery device for the tailstock type vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the first clamping plate (9) and the second clamping plate (10) are both provided with pressure sensors.
6. The release and recovery device of the tailstock type vertical take-off and landing unmanned aerial vehicle according to claim 1, wherein the main control computer (16) is connected with an electric hinge, a first electric long slide rail (5), a second electric long slide rail (6), a first rotating shaft (8), a second rotating shaft (17) and an electric cylinder (15).
7. The release and recovery device of the tailstock type vertical take-off and landing unmanned aerial vehicle according to claim 5, wherein the pressure sensor, the electric hinge, the first electric long slide rail (5), the second electric long slide rail (6), the first rotating shaft (8), the second rotating shaft (17) and the electric cylinder (15) are all connected with a main control computer (16); the main control computer (16) adopts a CAN bus design, the pressure sensor and the electric component both use the main control computer (16) to communicate through the CAN bus, and the tailstock type vertical take-off and landing unmanned aerial vehicle release and recovery device is powered by an external power supply.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920861423.0U CN210310918U (en) | 2019-06-10 | 2019-06-10 | Tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920861423.0U CN210310918U (en) | 2019-06-10 | 2019-06-10 | Tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering device |
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| Publication Number | Publication Date |
|---|---|
| CN210310918U true CN210310918U (en) | 2020-04-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920861423.0U Expired - Fee Related CN210310918U (en) | 2019-06-10 | 2019-06-10 | Tailstock type vertical take-off and landing unmanned aerial vehicle releasing and recovering device |
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| Country | Link |
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| CN (1) | CN210310918U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171576A (en) * | 2019-06-10 | 2019-08-27 | 西北工业大学 | A kind of release of tailstock formula vertical take-off and landing drone and recyclable device and method |
-
2019
- 2019-06-10 CN CN201920861423.0U patent/CN210310918U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110171576A (en) * | 2019-06-10 | 2019-08-27 | 西北工业大学 | A kind of release of tailstock formula vertical take-off and landing drone and recyclable device and method |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200414 Termination date: 20210610 |